CN110955044B - Display device, display control method, and storage medium - Google Patents

Display device, display control method, and storage medium Download PDF

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Publication number
CN110955044B
CN110955044B CN201910850927.7A CN201910850927A CN110955044B CN 110955044 B CN110955044 B CN 110955044B CN 201910850927 A CN201910850927 A CN 201910850927A CN 110955044 B CN110955044 B CN 110955044B
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China
Prior art keywords
light
concave mirror
image
projection
display
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CN201910850927.7A
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CN110955044A (en
Inventor
东山匡史
木村卓也
川上慎司
岩佐达也
桑岛悠司
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
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    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/31—Virtual images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/33—Illumination features
    • B60K2360/334—Projection means
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/011—Head-up displays characterised by optical features comprising device for correcting geometrical aberrations, distortion
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0149—Head-up displays characterised by mechanical features
    • G02B2027/0154—Head-up displays characterised by mechanical features with movable elements
    • G02B2027/0159—Head-up displays characterised by mechanical features with movable elements with mechanical means other than scaning means for positioning the whole image
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0149—Head-up displays characterised by mechanical features
    • G02B2027/0161—Head-up displays characterised by mechanical features characterised by the relative positioning of the constitutive elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0183—Adaptation to parameters characterising the motion of the vehicle
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2340/00—Aspects of display data processing
    • G09G2340/04—Changes in size, position or resolution of an image
    • G09G2340/0464—Positioning
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2354/00—Aspects of interface with display user
    • G—PHYSICS
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    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2380/00—Specific applications
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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Computer Hardware Design (AREA)
  • Multimedia (AREA)
  • Instrument Panels (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a display device, a display control method and a storage medium capable of improving visual confirmation. The display device includes: a light projection device having a two-dimensional projection surface and projecting light including an image; an optical mechanism that is provided on a path of the light and that is capable of adjusting a distance from a predetermined position to a position where the light forms a virtual image; a concave mirror that reflects the light having passed through the optical mechanism toward a reflector; a concave mirror actuator that adjusts a reflection angle of the concave mirror; and a control device that controls the light projecting device and the concave mirror actuator, wherein the control device adjusts a projection position of the light projected from the light projecting device on the projection surface so as to suppress a variation in an angle formed by a horizontal plane passing through a predetermined position of an image formed by the concave mirror and a line segment from the predetermined position to a position where the light forms a virtual image, the variation being caused by behavior of the vehicle.

Description

Display device, display control method, and storage medium
Technical Field
The invention relates to a display device, a display control method and a storage medium.
Background
Conventionally, there is known a head-Up display device (hereinafter, referred to as a hud (head Up display) device) that displays an image relating to information for a driver on a windshield (for example, japanese patent application laid-open No. 2017-91115). With this HUD device, various signs indicating obstacles, cautionary reminders, and the direction of travel are displayed in a predetermined position on the front windshield so as to overlap with the scenery in front of the vehicle, so that the driver can grasp various information displayed while maintaining the direction of the line of sight during driving in front.
However, in the conventional HUD device, the display position of the image may vary depending on the behavior of the vehicle, and thus the visibility of the displayed image may be reduced.
Disclosure of Invention
The present invention has been made in view of such circumstances, and an object thereof is to provide a display device, a display control method, and a storage medium that can improve visibility.
The display device, the display control method, and the storage medium according to the present invention have the following configurations.
(1): a display device according to an aspect of the present invention includes: a light projection device having a two-dimensional projection surface and projecting light including an image; an optical mechanism that is provided on a path of the light and that is capable of adjusting a distance from a predetermined position to a position where the light forms a virtual image; a concave mirror that reflects the light having passed through the optical mechanism toward a reflector; a concave mirror actuator that adjusts a reflection angle of the concave mirror; and a control device that controls the light projecting device and the concave mirror actuator, wherein the control device adjusts a projection position of the light projected from the light projecting device on the projection surface so as to suppress a variation in an angle formed by a horizontal plane passing through a predetermined position of an image formed by the concave mirror and a line segment from the predetermined position to a position where the light forms a virtual image, the variation being caused by behavior of the vehicle.
(2): in the aspect (1), the display device may further include an operation unit that receives an operation of adjusting an angle formed by the horizontal plane and the line segment from a passenger of the vehicle, and the control device may drive the concave mirror actuator based on the adjustment operation to adjust the angle when the operation of adjusting the angle is received by the operation unit, and may adjust a projection position of the light projected from the light projection device on the projection plane when the variation of the angle due to the behavior of the vehicle is suppressed.
(3): in the aspect (2), when the angle adjustment operation is received by the operation unit and the driving of the concave mirror by the driving of the concave mirror actuator based on the received adjustment operation reaches a limit, the control device further adjusts the projection position of the light projected from the light projection device on the projection surface, thereby adjusting the angle formed by the horizontal plane and the line segment.
(4): in the aspect (3) described above, the display device further includes a notification control unit that notifies information to an occupant of the vehicle via a notification unit, and the notification control unit inquires of the occupant via the notification unit whether or not to adjust a projection position of the light projected from the light projection device on the projection surface when the driving of the concave mirror by the driving of the concave mirror actuator reaches a limit.
(5): in the above aspect (1), the control device adjusts the angle formed by the horizontal plane and the line segment by adjusting the reflection angle of the concave mirror caused by the driving of the concave mirror actuator after adjusting the projection position of the light projected from the light projection device on the projection surface.
(6): in a display control method according to an aspect of the present invention, a display device includes: a light projection device having a two-dimensional projection surface and projecting light including an image; an optical mechanism that is provided on a path of the light and that is capable of adjusting a distance from a predetermined position to a position where the light forms a virtual image; a concave mirror that reflects the light having passed through the optical mechanism toward a reflector; a concave mirror actuator that adjusts a reflection angle of the concave mirror; and a control device that controls the light projection device and the concave mirror actuator, wherein the display control method causes the display device to perform: the projection position of the light projected from the light projection device on the projection surface is adjusted so as to suppress a variation in an angle formed by a horizontal plane passing through a predetermined position of an image formed by the concave mirror and a line segment from the predetermined position to a position where the light forms a virtual image, the variation being caused by behavior of the vehicle.
(7): a storage medium according to an aspect of the present invention stores a program, wherein a display device includes: a light projection device having a two-dimensional projection surface and projecting light including an image; an optical mechanism that is provided on a path of the light and that is capable of adjusting a distance from a predetermined position to a position where the light forms a virtual image; a concave mirror that reflects the light having passed through the optical mechanism toward a reflector; a concave mirror actuator that adjusts a reflection angle of the concave mirror; and a control device that controls the light projection device and the concave mirror actuator, wherein the program causes the display device to perform: the projection position of the light projected from the light projection device on the projection surface is adjusted so as to suppress a variation in an angle formed by a horizontal plane passing through a predetermined position of an image formed by the concave mirror and a line segment from the predetermined position to a position where the light forms a virtual image, the variation being caused by behavior of the vehicle.
According to the aspects (1) to (7), the visibility can be improved.
Drawings
Fig. 1 is a diagram illustrating a structure in a vehicle interior of a vehicle M in which a display device according to a first embodiment is mounted.
Fig. 2 is a diagram for explaining the operation switch of the first embodiment.
Fig. 3 is a partial configuration diagram of the display device.
Fig. 4 is a diagram showing a configuration example of a display device centering on a display control device.
Fig. 5 is a diagram showing an example of a virtual image superimposed on a landscape.
Fig. 6 is a diagram for explaining the fluctuation of the depression angle caused by the behavior of the vehicle M.
Fig. 7 is a diagram showing an example of calculation of the vertical fluctuation range.
Fig. 8 is a diagram showing an example of a virtual image that can be visually confirmed by the driver at time T1.
Fig. 9 is a diagram showing an example of a virtual image that can be visually confirmed by the driver at time T2.
Fig. 10 is a flowchart showing a flow of processing executed by the display device of the first embodiment.
Fig. 11 is a diagram showing a configuration example of a display device centering on a display control device in the second embodiment.
Fig. 12 is a diagram for explaining the position of the virtual image when the driving of the concave mirror reaches the limit.
Fig. 13 is a diagram showing an example of an inquiry screen displayed on the HMI.
Fig. 14 is a diagram for explaining a virtual image moved to a position higher than the upper limit in the upward direction by the control of the light projection device.
Fig. 15 is a diagram for explaining a change in depression angle by the light projection device and a change in depression angle by the concave mirror actuator.
Fig. 16 is a flowchart showing a flow of processing executed by the display device of the second embodiment.
Detailed Description
Embodiments of a display device, a display control method, and a storage medium according to the present invention will be described below with reference to the drawings. The display device according to the embodiment is mounted on a vehicle (hereinafter referred to as a vehicle M), for example, and superimposes an image on a landscape for visual confirmation. The display device may be referred to as a HUD device. As an example, the display device is a device that causes the viewer to visually recognize a virtual image by projecting light including an image onto a windshield of the vehicle M. The viewer is, for example, a driver, but may be a passenger other than the driver. The light source device may be a device in which light is projected onto a transparent member (goggles, lenses of glasses, etc.) of a device worn by a person on the body, or a light transmissive display device is mounted. In the following description, the display device is a device mounted on the vehicle M and projecting light including an image onto the windshield glass.
In the following description, the positional relationship and the like will be described using an XYZ coordinate system as appropriate.
In the following description, a "virtual image" is sometimes referred to as an "image".
(first embodiment)
[ integral Structure ]
Fig. 1 is a diagram illustrating a structure in a vehicle interior of a vehicle M in which a display device 100 according to a first embodiment is mounted. The vehicle M is provided with, for example, a steering wheel 10 that controls steering of the vehicle M, a front windshield (an example of a reflector) 20 that separates the outside of the vehicle from the inside of the vehicle, and an instrument panel 30. The front windshield 20 is a member having light transmissivity. The display device 100 makes a driver seated in the driver's seat visually recognize the virtual image VI by, for example, projecting light (projection light) including an image to a displayable region a1 provided at a portion of the front windshield 20 in front of the driver's seat 40.
The display device 100 visualizes information for assisting the driving of the driver, for example, as a virtual image VI to be visually confirmed by the driver. The information for assisting the driving of the driver includes, for example, information such as the speed of the vehicle M, the driving force distribution ratio, the engine speed, the operation state of the driving assistance function, the shift position, the sign recognition result, and the intersection position. The driving support function includes, for example, a direction instruction function for guiding the vehicle M to a preset destination, an acc (adaptive Cruise control), an lkas (lane Keep Assist system), a cmbs (traffic suspension Brake system), a traffic congestion support function, and the like. The driving support function may include a telephone function for controlling incoming calls, outgoing calls, and calls of a telephone mounted on the vehicle M, for example.
In the vehicle M, a first display unit 50-1 and a second display unit 50-2 may be provided in addition to the display device 100. The first display portion 50-1 is a display device that is provided near the front of the driver's seat 40 in the instrument panel 30, for example, and that allows the driver to visually confirm from the gap of the steering wheel 10 or to visually confirm beyond the steering wheel 10. The first display unit 50-1 displays, for example, information for assisting the driving of the driver. The second display unit 50-2 is attached to, for example, the center of the instrument panel 30. The second display unit 50-2 displays, for example, an image corresponding to navigation processing executed by a navigation device (not shown) mounted on the vehicle M, or a video of the other party in a videophone. The second display unit 50-2 may display a television program, play a DVD, or display a downloaded movie or the like. The first display unit 50-1 and the second display unit 50-2 may be operated by a passenger as a touch panel device. The received operation content is output to the display device 100 or another in-vehicle device.
The vehicle M is provided with an operation switch (an example of an operation unit) 130, and the operation switch 130 receives an instruction to switch on/off the display by the display device 100 and an instruction to adjust the position of the virtual image VI. The operation switch 130 is installed, for example, at a position where a driver seated in the driver seat 40 can operate without largely changing the posture. The operation switch 130 may be provided, for example, in front of the first display unit 50-1, in a boss portion of the steering wheel 10, or in a spoke connecting the steering wheel 10 and the instrument panel 30.
Fig. 2 is a diagram for explaining the operation switch 130 according to the first embodiment. The operation switch 130 includes, for example, a main switch 132, an adjustment switch 134, and an adjustment switch 136. The main switch 132 is a switch for switching the display device 100 on/off.
The adjustment switch 134 is, for example, a switch for receiving an instruction (adjustment operation) to move the position of the virtual image VI, which is visually confirmed so that the virtual image VI is in a space after passing through the displayable range a1 from the driver's line of sight position P1, upward in the vertical direction Z (hereinafter referred to as the upward direction). The driver can continuously move the visually confirmed position of the virtual image VI in the upward direction within the displayable range a1 by continuously pressing the adjustment switch 134.
The adjustment switch 136 is a switch for receiving an instruction (adjustment operation) to move the position of the virtual image VI downward (hereinafter referred to as downward) in the vertical direction Z. The driver can continuously move the visually confirmed position of the virtual image VI in the downward direction within the displayable range a1 by continuously pressing the adjustment switch 136.
The adjustment switch 134 may be a switch for increasing the brightness of the virtual image VI to be visually confirmed, instead of (or in addition to) moving the position of the virtual image VI in the upward direction. The adjustment switch 136 may be a switch for decreasing the luminance of the virtual image VI to be visually confirmed, instead of (or in addition to) moving the position of the virtual image VI downward. The content of the indications accepted by the adjustment switches 134, 136 may be switched based on certain operations. Some of the operations refer to, for example, a long press operation of the main switch 132. The operation switches 130 may include, for example, a switch for selecting display contents and a switch for specifically adjusting the luminance of a virtual image to be displayed, in addition to the switches shown in fig. 2.
Fig. 3 is a partial configuration diagram of the display device 100. The display device 100 includes, for example, a display 110 and a display control device 150. The display control device 150, an optical system controller 170 described later, and a display controller 172 described later are combined as an example of a "control device". The display 110 accommodates, for example, a light projector 120, an optical mechanism 122, a plane mirror 124, a concave mirror 126, and a light-transmitting cover 128 in a housing 115. In addition, the display device 100 includes various sensors and actuators, which will be described later. Or may be a structure without the optical mechanism 122 in the display 110.
The light projector 120 has a two-dimensional projection surface and projects light including an image. The light projector 120 includes, for example, a light source 120A and a display element 120B. The light source 120A is, for example, a cold cathode tube, and outputs visible light corresponding to a virtual image VI to be visually confirmed by the driver. The display element 120B controls transmission of visible light from the light source 120A. The display element 120B is, for example, a Thin Film Transistor (TFT) type liquid crystal display device (LCD) including a two-dimensional projection surface.
The display element 120B controls the plurality of pixels to control the degree of transmission of each color element of the visible light from the light source 120A, thereby determining the form (appearance) of the virtual image VI by including the image element in the virtual image VI. Hereinafter, the visible light transmitted through the display element 120B and including an image is referred to as image light IL. The display element 120B may also be an organic EL (Electro-Luminescence) display, in which case the light source 120A may be omitted.
The optical mechanism 122 includes, for example, more than one lens. The position of each lens can be adjusted, for example, in the optical axis direction. The optical mechanism 122 is provided, for example, on the path of the image light IL output from the light projector 120, and allows the image light IL incident from the light projector 120 to pass therethrough and to be emitted toward the windshield glass 20. The optical mechanism 122 can adjust a distance from a line-of-sight position P1 of the driver (an example of a predetermined position) to a formation position P2 at which the image light IL forms a virtual image (hereinafter referred to as a virtual image visual confirmation distance D), for example, by changing the position of the lens. The driver's sight line position P1 is a position where the image light IL is reflected by the concave mirror 126 and the front windshield 20 and is collected, and is a position where the eyes of the driver are assumed to be present. The virtual image visual recognition distance D is strictly speaking a distance of a line segment having an inclination in the vertical direction, but in the following description, when the expression "the virtual image visual recognition distance D is 7 m", or the like, the distance refers to a distance in the horizontal direction.
In the following description, the depression angle θ is defined as an angle formed by a horizontal plane passing through the driver's sight line position P1 and a line segment from the driver's sight line position P1 to a position P2. The downward direction of the virtual image VI is formed, that is, the downward direction of the line of sight of the driver viewing the virtual image VI is, the larger the depression angle θ is. The depression angle θ is determined based on the reflection angle Φ of the concave mirror 126 and the display position of the original image in the display element 120B. The reflection angle Φ is an angle formed between the incident direction of the image light IL reflected by the plane mirror 124 to the concave mirror 126 and the emission direction of the image light IL from the concave mirror 126.
The plane mirror 124 reflects the visible light (i.e., the image light IL) emitted from the light source 120A and passing through the display element 120B toward the concave mirror 126.
Concave mirror 126 reflects image light IL incident from flat mirror 124 and emits the image light IL toward front windshield 20. The concave mirror 126 is supported so as to be rotatable (turnable) about the Y axis, which is an axis in the width direction of the vehicle M.
The light-transmitting cover 128 transmits the image light IL from the concave mirror 126 to reach the front windshield 20, and prevents foreign matter such as dust, dirt, and water droplets from entering the housing 115. The light-transmitting cover 128 is provided in an opening formed in the upper member of the frame 115. The instrument panel 30 is also provided with an opening or a light-transmitting member, and the image light IL reaches the front windshield glass 20 through the light-transmitting cover 128 and the opening or the light-transmitting member of the instrument panel 30.
The image light IL incident on the front windshield 20 is reflected by the front windshield 20 and is converged toward the driver's sight position P1. At this time, when the eyes of the driver are positioned at the line-of-sight position P1 of the driver, the driver feels that the image drawn by the image light IL is displayed in front of the vehicle M.
The display control device 150 controls the display of the virtual image VI for visual confirmation by the driver. Fig. 4 is a diagram showing a configuration example of the display device 100 centering on the display control device 150. In the example of fig. 4, in addition to the display control device 150, the position sensor 162, the concave mirror angle sensor 164, the environment sensor 166, the operation switch 130, the optical system controller 170, the display controller 172, the lens actuator (an example of an optical mechanism actuator) 180, the concave mirror actuator 182, the light projection device 120, the driving support control device 200, and the vehicle behavior acquisition device 300 included in the display device 100 are shown.
The position sensor 162 detects the position of one or more lenses included in the optical mechanism 122. The position sensor 162 may also detect the position of the display element 120B. The concave mirror angle sensor 164 detects the rotation angle of the concave mirror 126 about the Y axis.
The environment sensor 166 includes, for example, a temperature sensor for detecting the temperature of the light projector 120 and the optical mechanism 122, and an illuminance sensor for detecting the illuminance around the vehicle M. The environment sensor 166 may include a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting an angular velocity about a vertical axis, an azimuth sensor for detecting the direction of the vehicle M, and a pitch angle sensor for detecting a pitch angle about a Y axis of the vehicle M. The environment sensor 166 may further include a height sensor (vehicle height sensor) that detects the height of the vehicle M and the inclination of the vehicle body. The height sensors are provided, for example, on the front, rear, left, and right wheels of the vehicle M. Objects (e.g., other vehicles, obstacles such as pedestrians) present in the periphery of the vehicle M may be detected by the environment sensor 166, a camera, a radar device, a detector (e.g., lidar (light Detection and ranging)), or the like. The environment sensor 166 may include a sensor for detecting a need to perform an inspection related to a brake system or an engine system of the vehicle, a case where a headlight is set to a high beam, a case where a door lock is not locked, a case where a door is not completely closed, a case where a fog light is turned on, a case where an incoming call is made in a telephone function mounted on the vehicle M, a case where a timing of turning left and right to face a destination set by the navigation device is approached, or the like.
The optical system controller 170 drives the lens actuator 180 based on the control signal output from the drive control unit 153, thereby adjusting the virtual image visual confirmation distance D. The optical system controller 170 drives the concave mirror actuator 182 based on the control signal output from the drive control unit 153, thereby adjusting the rotation angle of the concave mirror.
The display controller 172 controls the light projector 120 to output an image generated by the image generator 151 and obtained based on the display mode determined by the display mode controller 152. The image includes, for example, an image (hereinafter, referred to as a first image) related to information for assisting driving of the driver, which is stably displayed, and an image (hereinafter, referred to as a second image) displayed when a predetermined event such as an emergency or a predetermined function occurs. The predetermined event is, for example, an event generated according to the state of the vehicle M. The events include events corresponding to various functions implemented by the driving support control apparatus 200 and events (inspection instructions and warnings) generated based on information detected by the environment sensor 166. The second image is, for example, an image relating to a lane escape warning, an image notifying that the vehicle M is approaching a preceding vehicle, an image indicating that the collision reduction brake is activated, another warning image, or the like. The second image may be displayed in line with the first image or may be displayed together with the first image.
The display controller 172 adjusts the projection position of the light projected from the light projection device 120 on the projection surface based on the control signal output by the display mode control unit 152. The adjustment of the projection position on the projection surface is performed by software control, and therefore is faster than the drive control performed by hardware such as a drive motor. This allows the depression angle θ to be adjusted faster than adjusting the depression angle θ by driving the concave mirror actuator 182 to change the reflection angle of the concave mirror 126.
The lens actuator 180 acquires a drive signal from the optical system controller 170, and drives a motor or the like based on the acquired drive signal to move the position of one or more lenses included in the optical mechanism 122. The lens actuator 180 may also physically move the position of the display element 120B along the image light IL. Thereby, the virtual image visual confirmation distance D is adjusted.
Concave mirror actuator 182 receives a drive signal from optical system controller 170, and drives a motor or the like based on the drive signal thus received to rotate concave mirror actuator 182 about the Y axis, thereby adjusting the reflection angle Φ of concave mirror 126. Thereby, the depression angle θ is adjusted.
In the first embodiment, the transmission form of visible light in the light projection device 120 (for example, the display position of the original image in the display element 120B) and the rotation angle of the concave mirror 126 determine the appearance of the virtual image IV visually confirmed by the driver. For example, when at least one of the transmission mode of visible light and the rotation angle of the concave mirror 126 in the light projector 120 changes, the depression angle θ of the virtual image VI changes.
The driving support control device 200 executes a driving support function for supporting a driving operation performed by the driver of the vehicle M. When the driving support function is executed, the vehicle M controls one or both of the steering control and the speed control, for example, regardless of the operation of the driving operation member (for example, the steering wheel 10, the accelerator pedal, and the brake pedal) by the driver. When the ACC function is executed as the driving support function, for example, the driving support control device 200 performs acceleration/deceleration control (speed control) based on the inter-vehicle distance between the vehicle M and the preceding vehicle so as to travel while keeping the inter-vehicle distance between the vehicle M and the preceding vehicle constant, based on information input via the environment sensor 166 and the object recognition device (not shown) mounted on the vehicle M. When LKAS is executed as a driving support function, the driving support control device 200 performs steering control so that the vehicle M travels while maintaining a traveling lane (lane keeping) in which the vehicle is currently traveling. When the CMBS is executed as the driving support function, the driving support control device 200 performs deceleration control or stop control of the vehicle M when the inter-vehicle distance between the vehicle M and the preceding vehicle becomes less than a predetermined distance. The driving support control device 200 outputs, for example, the state of the driving support function to the display control device 150. The driving support control device 200 outputs information for warning the driver (warning information) to the display control device 150 before executing the LKAS and the CMBS. The warning information is, for example, a lane departure warning, a preceding vehicle approach warning, or the like. When the various functions described above are executed by the driving support control device 200, events corresponding to the various functions are generated.
The vehicle behavior acquisition device 300 acquires a behavior of the vehicle M during traveling. The behavior of the vehicle M includes, for example, information on the speed and steering of the vehicle M generated by the driver's operation of the driving operation member, information on the inclination, height, attitude, and the like of the vehicle M detected by the environment sensor 166 and the like.
[ display control device ]
Next, the display control device 150 will be explained. The display control device 150 includes, for example, an image generation unit 151, a display mode control unit 152, a drive control unit 153, and a storage unit 154. Each of the components other than the storage unit 154 is realized by a hardware processor such as a cpu (central Processing unit) executing a program (software). Some or all of these components may be realized by hardware (including circuit units) such as lsi (large Scale integration), asic (application Specific Integrated circuit), FPGA (Field-Programmable Gate Array), gpu (graphics Processing unit), or the like, or may be realized by cooperation between software and hardware. The program may be stored in advance in the storage unit 154 such as an HDD or a flash memory of the display control device 150, or may be stored in a removable storage medium (non-transitory storage medium) such as a DVD or a CD-ROM, and the storage medium may be attached to the storage unit 154 of the display control device 150 by being incorporated into the drive device.
The display control device 150 enables the functions of the image generation unit 151, the display mode control unit 152, and the drive control unit 153 to be executed when a signal to be turned on is received from the operation switch 130 (main switch 132), for example, and stops the functions when a signal to be turned off is received.
When the display device 100 is in the on state, the image generating unit 151 generates a first image superimposed on a landscape to be visually confirmed by the driver. The image generating unit 151 generates the second image instead of (or in addition to) the first image when a condition for interpolating the second image into an image superimposed on the landscape is satisfied. The output of the first image and the second image displayed can be set by the driver using the operation switch 130, another operation unit, or a gui (graphical User interface) switch displayed on the second display unit 50-2. The setting information set by the driver is stored in the storage unit 154, for example. For example, when the driving support control device 200 outputs warning information, the image generating unit 151 generates an image element based on an event of the output of the warning information. The image elements include, for example, icons, signs, road signs, etc. for identifying the items and the contents of the items.
The display mode control unit 152 sets the display mode of the image generated by the image generation unit 151, and generates control information for displaying the image in the set display mode. The display mode refers to the presence or absence of display of images (first image and second image) superimposed on a landscape for visual confirmation by the driver, the position (depression angle θ) of the image in the case of display, the size, the brightness, the control amount of the amount of adjustment by the display position in the virtual image visual confirmation distance D, and the like. The display mode control unit 152 changes the display mode based on the lens position detected by the position sensor 162 and the rotation angle of the concave mirror 126 detected by the concave mirror angle sensor 164. The display form control unit 152 may change the display form based on the information detected by the environment sensor 166 and the contents of the driving support function provided by the driving support control device 200. The display mode control unit 152 outputs the generated control information to the display controller 172 and the drive control unit 153.
The display mode control unit 152 includes, for example, a position correction control unit 152 a. The position correction control unit 152a adjusts the projection position of the light projected from the light projection device 120 on the projection surface so as to suppress the variation of the depression angle θ caused by the behavior of the vehicle M. For example, when the behavior of the vehicle M obtained by the vehicle behavior acquisition device 300 satisfies a predetermined condition, the display mode control unit 152 generates control information for adjusting the projection position of the light projected from the light projection device 120 on the projection surface by the display controller 172 to adjust the depression angle θ, and outputs the generated control information to the display controller 172. The function of the display mode control unit 152 will be described in detail later.
The drive control unit 153 generates a control signal for moving the position of one or more lenses included in the optical mechanism 122 or the position of the display element 120B and a control signal for adjusting the rotation angle of the concave mirror 126 based on the control information output from the display mode control unit 152, and outputs the generated control signal to the optical system controller 170. The drive control unit 153 generates a control signal so that the virtual image VI including the image is visually recognized at the position (the depression angle θ, the virtual image visual recognition distance D) instructed by the display form control unit 152 based on the lens position detected by the position sensor 162, the position of the display element 120B, and the rotation angle of the concave mirror 126 detected by the concave mirror angle sensor 164, and outputs the generated control signal to the optical system controller 170.
The storage unit 154 is realized by, for example, a rom (read Only memory), a ram (random Access memory), an hdd (hard Disk drive), a flash memory, or the like. The storage unit 154 stores, for example, setting information and other information.
Next, an example of an image superimposed on the landscape and visually confirmed by the driver as the virtual image VI by the display device 100 will be described. Fig. 5 is a diagram showing an example of a virtual image VI superimposed on a landscape. In the example of fig. 5, an example of the virtual image VI superimposed on a landscape (a landscape in which a road L1 exists, and an actual space such as MK is indicated) visually confirmed through the windshield glass 20 by the display device 100 is shown.
The virtual image VI includes one or more image elements IE. The image element IE includes, for example, the first image or the second image described above. In the example of fig. 5, the image element IE1 represents the speed of the vehicle M, and is an example of the first image. A picture element IE2 indicates a direction instruction, a picture element IE3 indicates a type of driving support function being executed, a picture element IE4 indicates a logo, and a picture element IE5 indicates an incoming call in the telephone function mounted on the vehicle M, each of which is an example of a second image.
After the start-up (on state) of the display device 100, the display mode control unit 152 causes the projector device 120 to output an image including image elements according to the vehicle state. Specifically, with reference to the example of fig. 5, for example, when the display device 100 is activated, the image generation unit 151 generates the image element IE 1. In this case, the display form control unit 152 causes the generated image element IE1 to be displayed on the lower right of the virtual image VI when viewed from the driver.
When the vehicle M is traveling near an intersection, the image generating unit 151 generates an image including an image element IE2, the image element IE2 corresponding to a display instruction of the direction instruction information obtained based on the driving support function of the driving support control device 200. In this case, the display form control unit 152 causes the image element IE2 to be displayed at the center of the virtual image VI. When the driving support control device 200 determines that the vehicle M is likely to deviate from the lane of the road L1, the image generation unit 151 generates the image element IE3 corresponding to the character "LKAS". In this case, the display form control unit 152 causes the generated image element IE3 to be displayed on the upper left of the virtual image VI. When the environment sensor 166 recognizes a predetermined marker MK in front of the vehicle M, the image generator 151 generates an image element IE4 corresponding to the marker. The predetermined flag MK is, for example, a temporary stop, a maximum speed (speed limit), a vehicle entrance prohibition, a crossline passing prohibition, a one-way passing prohibition, or the like. In this case, the display form control unit 152 causes the generated image element IE4 to be displayed at the left center of the virtual image VI. When an incoming call is received by the telephone function mounted on the vehicle M, the image generation unit 151 generates an image element IE5 corresponding to an image indicating the incoming call. In this case, the display form control unit 152 causes the generated image element IE5 to be displayed on the lower left of the virtual image VI. When the display condition of the image element IE is not satisfied, the display form control unit 152 ends the display of the image element IE.
[ display form control section ]
Next, the function of the display mode control unit 152 will be described in detail with reference to the drawings. The display mode control unit 152 performs the tremor correction control for suppressing the variation in the depression angle θ (more specifically, the tremor of the virtual image VI) caused by the behavior of the vehicle M. Fig. 6 is a diagram for explaining the variation of the depression angle θ caused by the behavior of the vehicle M. In fig. 6, the vehicle M travels at a constant speed on a road L1, and has a step ST on a road L1. The vehicles M at times T1 and T2(T1 < T2) are denoted by M (T1) and M (T2), respectively, and the depression angles θ are denoted by θ (T1) and θ (T2), respectively. The left and right front wheels of the vehicle M are Wfl, Wfr, and the left and right rear wheels are Wrl, Wrr.
At the time T1, the vehicle M (T1) travels in the horizontal direction (in the X-axis direction).
In this case, the display device 100 displays the virtual image VI at a position separated from the driver's sight line position P1 by the virtual image visual confirmation distance D and at a depression angle θ (T1) based on the setting information.
Here, at time T2, the left and right front wheels Wfl, Wfr of the vehicle M (T2) are present at the lower step of the step ST, and the left and right rear wheels Wrl, Wrr are present at the upper step of the step ST, so the vehicle M (T2) is in a forward tilting state. In this case, the position of the virtual image VI is such that the virtual image visual recognition distance D is constant, and the depression angle is a depression angle θ (T2) (θ (T1) < θ (T2)) obtained by adding an angle by which the vehicle M (T2) leans forward (for example, an angle approximate to the pitch angle with respect to the vehicle M) to the depression angle θ (T1) by the display device 100. In such a case, the virtual image VI viewed from the driver may shake downward, and thus the visual confirmation may be degraded. Therefore, when the behavior of the vehicle M changes as described above, the position correction control unit 152a of the display mode control unit 152 performs control so that the depression angle θ (T1) becomes constant.
Specifically, the position correction control unit 152a calculates a fluctuation range in the vertical direction when the depression angle θ (T1) changes to θ (T2), and adjusts the depression angle so that the calculated fluctuation range is approximately zero (0). Fig. 7 is a diagram showing an example of calculation of the vertical variation width W. The posture of the driver and the positions of the eyes differ depending on the posture of the vehicle M at the time T1 and T2, the vibration caused by the step ST, and the like, but the amount of change is extremely small compared to the virtual image visual confirmation distance D, and therefore, the description will be made as a matter of no consideration. Therefore, the fluctuation range W obtained by the following calculation becomes an approximate value of the actual fluctuation range.
In the example of fig. 7, the position correction control unit 152a calculates a distance (height in the vertical direction) h1 from the horizontal plane to the center position of the virtual image VI at the depression angle θ (T1). The distance h1 is calculated, for example, by h1 ═ Dsin θ (T1). The position correction controller 152a calculates a distance h2 from the horizontal plane to the center position of the virtual image VI at the depression angle θ (T2). The distance h2 is calculated, for example, by h2 ═ Dsin θ (T2). The depression angle θ (T2) may be derived based on, for example, a pitch angle detected by a pitch angle sensor included in the environment sensor 166 and the depression angle θ 1 determined by the display form control unit 152, or may be derived based on values detected by height sensors provided on the front wheels Wfl and Wfr and the rear wheels Wrl and Wrr. Then, the position correction controller 152a calculates the fluctuation width W from the difference (h2-h1) between the distance h2 and the distance h 1.
Instead of the above-described calculation method, the position correction controller 152a may store in advance a table (LUT) in which the fluctuation range W and the difference value between the depression angle θ (T1) and the depression angle θ (T2) or the difference value between the distance h2 and the distance h1 are associated with each other in the storage unit 154, and when the depression angles θ (T1), θ (T2), the distances h1, and h2 are acquired, the fluctuation range W in which the association is established is acquired by referring to the LUT based on the difference values.
The position correction control unit 152a performs correction control of the depression angle θ so that the obtained fluctuation width W is approximately zero (0), but when correction is performed using the concave mirror actuator 182, the response is delayed due to the influence of the driving time of the motor and the like. Therefore, a time deviation occurs in the timing of the change in the behavior of the vehicle M and the timing of the correction control of the depression angle θ, so that the virtual image VI may vibrate up and down opposite to the swing direction of the vehicle M. Therefore, the position correction control unit 152a adjusts the projection position of the light projected from the light projection device 120 on the projection surface by the display control performed by the display controller 172 with high responsiveness, and performs correction control of the depression angle θ.
Fig. 8 is a diagram showing an example of the virtual image VI that can be visually confirmed by the driver at time T1. In the example of fig. 8, the position of the virtual image VI with respect to the displayable region a1 is briefly shown. The same applies to similar figures hereafter. At time T1, the display mode control unit 152 displays the virtual image VI including the image element IE1 indicating the speed of the vehicle M at the position of the depression angle θ (T1). Here, when the behavior of the vehicle M changes due to the step ST on the road L1, the position correction control unit 152a performs the judder correction control of the depression angle θ according to the change.
Fig. 9 is a diagram showing an example of a virtual image VI that can be visually confirmed by the driver at time T2. The position correction control unit 152a controls the display controller 172 to change the position of the image including the pixel element IE1 generated by the plurality of pixels of the display element 120B, and to project light to the changed position so that the position of the virtual image VI is moved in the upward direction by the variation width W. The position correction control unit 152a performs the downward swing correction in the same manner as the above-described upward swing correction. Thus, the position correction control unit 152a can suppress the fluctuation of the depression angle caused by the fluctuation of the behavior of the vehicle M. The position correction control unit 152a described above can be realized by display control of an image by the display element 120B, and therefore has high responsiveness and can be performed more quickly than adjusting the reflection angle Φ of the concave mirror 126 by the concave mirror actuator 182. Therefore, the chattering vibration correction can be performed at a more appropriate timing in accordance with the change in the behavior of the vehicle M.
The position correction control unit 152a determines whether or not the fluctuation width W is equal to or greater than a threshold value, and may perform the above-described correction control of the depression angle θ when the fluctuation width W is equal to or greater than the threshold value.
[ treatment procedure ]
Fig. 10 is a flowchart showing a flow of processing executed by the display device 100 of the first embodiment. The processing in fig. 10 is repeatedly executed at predetermined timing after the display device 100 is turned on by operating the switch 130, for example.
First, the image generating unit 151 generates an image superimposed on a landscape based on the setting information and the like stored in the storage unit 154 (step S100). Next, the display mode control unit 152 determines the display mode of the generated image (step S102). Next, the drive control unit 153 controls the concave mirror actuator 182 via the optical system controller 170 based on the display mode determined by the display mode control unit 152, and adjusts the reflection angle Φ of the concave mirror 126 so that the virtual image VI can be visually confirmed at the depression angle indicated by the display mode (step S104). Next, the display mode control unit 152 causes the display controller 172 to project light including an image generated based on the display mode from the light projection device 120 (step S106).
Here, the display mode control unit 152 acquires the behavior of the vehicle M by the vehicle behavior acquisition device 300 (step S108), and determines whether or not the depression angle is changed by the behavior of the vehicle M (step S110). When it is determined that the depression angle has changed, the position correction control unit 152a adjusts the projection position of the light projected from the light projection device 120 on the projection surface (step S112). This completes the processing of the flowchart. If it is determined in the process of step S110 that the depression angle is not changed by the behavior of the vehicle, the process of the present flowchart is ended. In the process of step S110, it may be determined whether or not a change equal to or larger than a threshold has occurred or a change may occur in the future based on the change amount of the depression angle several seconds ago.
According to the first embodiment, the display device 100 includes: a light projection device 120 having a two-dimensional projection surface and projecting light including an image; an optical mechanism 122 that is provided on the path of light and that is capable of adjusting the distance from a predetermined position to a position where light forms a virtual image; a concave mirror 126 that reflects the light having passed through the optical mechanism 122 toward the reflector; concave mirror actuator 182 that adjusts the reflection angle of concave mirror 126; and a control device (display control device 150, optical system controller 170, display controller 172) that controls the light projecting device 120 and the concave mirror actuator 182, wherein the control device adjusts the projection position of the light projected from the light projecting device 120 on the projection surface so as to suppress a variation in the depression angle θ caused by the behavior of the vehicle M, thereby displaying an image that is easier for the viewer to observe.
According to the first embodiment, when there is an operation instruction in the vertical direction of the depression angle θ by the driver through the operation switch 130, the concave mirror actuator 182 is driven to adjust the depression angle θ, and when variation in the depression angle θ due to behavior of the vehicle M is suppressed, the projection position of the light projected from the light projection device 120 on the projection surface is adjusted. This makes it possible to suppress the chattering of the virtual image VI at a more appropriate timing when the vehicle is traveling on a poor road or the like, and thus to improve the visibility of the virtual image VI by the viewer.
(second embodiment)
Next, a second embodiment of the display device will be described. The second embodiment is an embodiment in which the adjustment of the depression angle θ by the optical system controller 170 to drive the concave mirror actuator 182 and the adjustment of the depression angle θ by the display controller using the light projection device 120 are combined. Hereinafter, in the description of the display device 100# of the second embodiment, the same names and symbols are given to the same configurations as those of the display device 100 of the first embodiment, and a detailed description thereof will be omitted. Fig. 11 is a diagram showing a configuration example of a display device 100# centering on a display control device 150 in the second embodiment. The display device 100# is different from the display device 100 in that the display control device 150 includes a display mode control unit 152# instead of the display mode control unit 152, and further includes a notification control unit 155. In the example of fig. 11, an hmi (human Machine interface)400 is provided in comparison with the first embodiment shown in fig. 4. HMI400 is an example of "notification unit". Therefore, the following description will mainly focus on the display mode control unit 152#, the notification control unit 155, and the HMI 400.
The HMI400 presents various information to the driver of the vehicle M and accepts input operations by the driver. The HMI400 includes, for example, a first display unit 50-1, a second display unit 50-2, other various display devices, a speaker, a buzzer, a touch panel, a switch, a key, and the like.
The display mode control unit 152# has the same function as the display mode control unit 152, and adjusts the depression angle θ by adjusting the position of the depression angle θ based on the adjustment operation by the operation switch 130, and further adjusting the projection position of the light projected from the light projection device 120 on the projection surface by the display controller 172 when the driving of the concave mirror 126 by the driving of the concave mirror actuator 182 reaches the limit. The drive of the concave mirror 126 reaching the limit means that, for example, the rotation angle of the concave mirror 126 around the Y axis reaches a limit angle at which the concave mirror cannot be rotated any further in the same direction for structural reasons or the like. The drive of the concave mirror 126 to the limit is, for example, when the upper limit or the lower limit of the virtual image VI is set in consideration of the setting by the driver or the tremor correction control amount in the first embodiment, that means that at least one end of the virtual image VI has reached the upper limit or the lower limit.
Fig. 12 is a diagram for explaining the position of the virtual image VI when the driving of the concave mirror 126 reaches the limit. In the example of fig. 12, the upper limit UL of the display of the virtual image VI is set by the driver in the displayable region a 1. For example, the display form control unit 152# receives an instruction to move the position of the virtual image VI in the upward direction by the adjustment switch 134, and moves the position of the virtual image VI in the upward direction of the displayable area a1 based on the received instruction. Here, as shown in fig. 12, when the upper end of the virtual image VI reaches the upper limit UL and the upward adjustment operation by the adjustment switch 134 continues, the display form control unit 152# causes the light-emitting device 120 to move in the upward direction beyond the upper limit UL. When the depression angle θ is further adjusted by the light projector 120 under the above-described conditions, the display mode control unit 152# may ask the driver whether or not to adjust the depression angle θ.
Fig. 13 is a diagram showing an example of an inquiry screen displayed on HMI 400. When the concave mirror actuator 182 is driven and the upper limit UL is reached, the notification control unit 155 generates an image IM as shown in fig. 13 and causes the second display unit 50-2 to display the generated image IM.
The image IM shown in fig. 13 includes inquiry information inquiring whether or not to move the display of the virtual image VI further in the upward direction, an icon IC1 permitting the upward movement, and an icon IC2 rejecting the upward movement.
Here, when the driver selects the icon IC1, the display mode control unit 152# further moves the position of the virtual image VI in the upward direction by the control of the light projection device 120. Fig. 14 is a diagram for explaining the virtual image VI moved to a position higher than the upper limit UL by the control of the light projector 120. When the driver selects the icon IC1, the display form control unit 152# moves the position of the virtual image VI in the upward direction from the upper limit UL as shown in fig. 14. In the second embodiment, the upward movement control of the virtual image VI by the light projection device 120 may be performed without making an inquiry to the driver. When the icon IC2 is selected by the driver, the upward movement control of the virtual image VI by the light projection device 120 is not performed. In this way, according to the second embodiment, the display position of the virtual image VI can be enlarged. By making an inquiry as shown in fig. 13, the virtual image VI can be displayed at a position where the driver wants to visually confirm.
In the second embodiment, the display mode control unit 152# may first adjust the depression angle θ by the light projection device 120, and then adjust the rotation angle of the concave mirror about the Y axis by driving the concave mirror actuator. This makes it possible to speed up the timing of the initial movement of the virtual image VI.
The display mode control unit 152# may adjust the depression angle θ by the concave mirror actuator 182 after adjusting the depression angle θ by the light projector 120. Fig. 15 is a diagram for explaining a change in depression angle by the light projection device 120 and a change in depression angle by the concave mirror actuator 182. In fig. 15, the horizontal axis represents time T, and the vertical axis represents depression angle θ. For example, when receiving an instruction to change the depression angle position at the timing Ta, the display mode control unit 152# controls the light projector 120 via the display controller 172 to move the depression angle θ from the current angle by + θ 1. The display mode control unit 152# executes control for moving the depression angle position by + θ 1 by the concave mirror actuator 182. Here, the display mode control unit 152# performs control of maintaining the depression angle (+ θ 1) by depression angle control of each of the light projection device 120 and the concave mirror actuator 182 by adjusting the depression angle by the light projection device 120 via the display controller 172 based on the angle of the concave mirror 126 detected by the concave mirror angle sensor 164 in accordance with the change in the depression angle θ caused by the concave mirror 126. At time Tb when depression angle θ is shifted by + θ 1 from the angle before the change by driving concave mirror actuator 182, the depression angle control by light projection device 120 is ended. In this way, by adjusting the depression angle by the light projecting device 120 for purposes other than suppressing the fluctuation due to the behavior of the vehicle M, the virtual image VI displayed can be displayed so as to be easily observed by the driver.
[ treatment procedure ]
Fig. 16 is a flowchart showing the flow of processing executed by the display device 100# of the second embodiment. The processing in fig. 16 is repeatedly executed at predetermined timing after the display device 100# is turned on by operating the switch 130, for example.
First, the image generating unit 151 generates an image superimposed on the landscape based on the setting information and the like stored in the storage unit 154 (step S200). Next, the display mode control unit 152# determines the display mode of the generated image (step S202), and displays the virtual image VI in the displayable region a1 based on the determined display mode (step S204).
Next, the display mode control unit 152# receives the operation of adjusting the depression angle by the operation switch 130 (step S206), drives the concave mirror actuator 182 based on the received adjustment operation content, and further rotates the concave mirror 126 about the Y axis to adjust the reflection angle Φ and change the depression angle θ (step S208). Next, the display mode control unit 152# determines whether or not the rotation angle of the concave mirror 126 about the Y axis reaches a limit (step S210). When it is determined that the limit is reached, the notification control unit 155 inquires whether or not the depression angle is further changed using the HMI400 (step S212). Next, the display mode control unit 152# determines whether or not to change the depression angle of the light projector 120 based on the inquiry result (step S214). When it is determined that the change of the depression angle is to be performed, the display mode control unit 152# adjusts the projection position of the light projected from the light projection device 120 on the projection surface by the display controller 172, and changes the depression angle (step S216). This completes the processing of the flowchart. If it is determined that the angle of depression by the light projector 120 is not within the limit in the process of step S210 or if it is determined that the change of the angle of depression by the light projector 120 is not performed in the process of step S214, the process of the flowchart ends.
According to the second embodiment, in addition to the same effects as those of the first embodiment, the virtual image VI can be moved rapidly in a wide range by combining the adjustment of the depression angle θ by driving the concave mirror actuator 182 and the adjustment of the depression angle θ by the display controller using the light projection device 120. Therefore, the virtual image VI can be visually confirmed at a more appropriate position according to the behavior of the vehicle M.
The first and second embodiments described above may be combined with a part or all of the other embodiments. Instead of projecting an image directly onto the windshield glass 20, the display device 100 and the display device 100# may project an image onto a light transmissive reflecting member such as a combiner provided between the position of the driver and the windshield glass 20.
While the present invention has been described with reference to the embodiments, the present invention is not limited to the embodiments, and various modifications and substitutions can be made without departing from the scope of the present invention.

Claims (5)

1. A display device, wherein,
the display device includes:
a light projection device having a two-dimensional projection surface and projecting light including an image;
an optical mechanism that is provided on a path of the light and that is capable of adjusting a distance from a predetermined position to a position where the light forms a virtual image;
a concave mirror that reflects the light having passed through the optical mechanism toward a reflector;
a concave mirror actuator that adjusts a reflection angle of the concave mirror;
a control device for controlling the light projecting device and the concave mirror actuator; and
an operation unit that receives, from a passenger of the vehicle, an operation of adjusting an angle formed by a horizontal plane passing through a predetermined position of an image formed by the concave mirror and a line segment from the predetermined position to a position where the light forms a virtual image,
the control device adjusts a projection position of the light projected from the light projection device on the projection surface so as to suppress a variation in an angle formed by the horizontal plane and the line segment due to behavior of the vehicle,
the controller may drive the concave mirror actuator to adjust the angle based on the adjustment operation when the adjustment operation of the angle is received by the operation unit, and further adjust a projection position of the light projected from the light projector on the projection surface to adjust the angle formed by the horizontal plane and the line segment when the drive of the concave mirror by the drive of the concave mirror actuator reaches a limit based on the received adjustment operation.
2. The display device according to claim 1,
the display device further includes a notification control unit that notifies the occupant of the vehicle of information via a notification unit,
the notification control unit inquires of the passenger whether or not to adjust the projection position of the light projected from the light projection device on the projection surface, when the driving of the concave mirror by the driving of the concave mirror actuator reaches a limit.
3. The display device according to claim 1,
the control device adjusts the angle of reflection of the concave mirror caused by the driving of the concave mirror actuator after adjusting the projection position of the light projected from the light projection device on the projection surface, thereby adjusting the angle of the horizontal plane with respect to the line segment.
4. A display control method for controlling a display apparatus, wherein,
the display device includes: a light projection device having a two-dimensional projection surface and projecting light including an image; an optical mechanism that is provided on a path of the light and that is capable of adjusting a distance from a predetermined position to a position where the light forms a virtual image; a concave mirror that reflects the light having passed through the optical mechanism toward a reflector; a concave mirror actuator that adjusts a reflection angle of the concave mirror; a control device for controlling the light projecting device and the concave mirror actuator; and an operation unit that receives, from a passenger of the vehicle, an operation of adjusting an angle formed by a horizontal plane passing through a predetermined position of an image formed by the concave mirror and a line segment from the predetermined position to a position where the light forms a virtual image,
the display control method causes the display device to perform:
adjusting a projection position of the light projected from the light projection device on the projection surface so as to suppress a variation in an angle formed by the horizontal plane and the line segment due to behavior of the vehicle,
when the operation unit receives the operation of adjusting the angle, the concave mirror actuator is driven based on the adjustment operation to adjust the angle, and when the concave mirror is driven by the drive of the concave mirror actuator based on the received adjustment operation to reach a limit, the projection position of the light projected from the light projection device on the projection surface is further adjusted to adjust the angle formed by the horizontal plane and the line segment.
5. A storage medium storing a program, the storage medium being used in a display device, wherein,
the display device includes: a light projection device having a two-dimensional projection surface and projecting light including an image; an optical mechanism that is provided on a path of the light and that is capable of adjusting a distance from a predetermined position to a position where the light forms a virtual image; a concave mirror that reflects the light having passed through the optical mechanism toward a reflector; a concave mirror actuator that adjusts a reflection angle of the concave mirror; a control device for controlling the light projecting device and the concave mirror actuator; and an operation unit that receives, from a passenger of the vehicle, an operation of adjusting an angle formed by a horizontal plane passing through a predetermined position of an image formed by the concave mirror and a line segment from the predetermined position to a position where the light forms a virtual image,
the program causes the display device to perform:
adjusting a projection position of the light projected from the light projection device on the projection surface so as to suppress a variation in an angle formed by the horizontal plane and the line segment due to behavior of the vehicle,
when the operation unit receives the operation of adjusting the angle, the concave mirror actuator is driven based on the adjustment operation to adjust the angle, and when the concave mirror is driven by the drive of the concave mirror actuator based on the received adjustment operation to reach a limit, the projection position of the light projected from the light projection device on the projection surface is further adjusted to adjust the angle formed by the horizontal plane and the line segment.
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